| { |
| "task_name": "sorting household items", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 19686, |
| "valid_duration": [ |
| 0, |
| 19686 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 687 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 10 |
| ], |
| "skill_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 687, |
| 1918 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_227" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1919, |
| 2844 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_227" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2844, |
| 3715 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_228", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_228" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3716, |
| 4487 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4487, |
| 5636 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 98 |
| ], |
| "skill_description": [ |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_228", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_228" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5636, |
| 6772 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 98 |
| ], |
| "skill_description": [ |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "bottle_of_detergent_227" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6772, |
| 7391 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7392, |
| 9022 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "hamper_226" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9022, |
| 9736 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9736, |
| 10269 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10269, |
| 10771 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10772, |
| 12011 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12011, |
| 12855 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "shelf_fjozhc_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12855, |
| 13560 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13560, |
| 14818 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_225" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 14819, |
| 15619 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15619, |
| 16368 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 16368, |
| 16421 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "hamper_225", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "hamper_225" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 16421, |
| 17049 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "tube_of_toothpaste_222", |
| "hamper_225" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tube_of_toothpaste_222" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17049, |
| 17395 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 17396, |
| 18389 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "toothbrush_221", |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "toothbrush_221" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 18389, |
| 19080 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 4 |
| ], |
| "skill_description": [ |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| "tube_of_toothpaste_222", |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "tube_of_toothpaste_222" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 19080, |
| 19686 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 10 |
| ], |
| "primitive_description": [ |
| "open door" |
| ], |
| "object_id": [ |
| [ |
| "sliding_door_tprpvb_10" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 1918 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 2, |
| 98 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place under" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "bottle_of_detergent_227", |
| "bottle_of_detergent_228" |
| ], |
| "hamper_226" |
| ], |
| [ |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ], |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "bottle_of_detergent_227", |
| "bottle_of_detergent_228" |
| ], |
| [ |
| "bottle_of_detergent_228", |
| "bottle_of_detergent_227" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1919, |
| 7391 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "box_of_sanitary_napkins_224", |
| "hamper_226" |
| ], |
| [ |
| "box_of_sanitary_napkins_224", |
| "shelf_fjozhc_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "box_of_sanitary_napkins_224", |
| "box_of_sanitary_napkins_224" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7392, |
| 13560 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9, |
| 12, |
| 14 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "soap_dispenser_223", |
| "hamper_225" |
| ], |
| [ |
| "soap_dispenser_223", |
| "multi_station_furniture_sink_upwldu_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "soap_dispenser_223", |
| "soap_dispenser_223" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9736, |
| 12855 |
| ], |
| "skill_idxes": [ |
| 10, |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 4 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place in" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| "hamper_225" |
| ], |
| [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| "coffee_cup_220" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ], |
| [ |
| "toothbrush_221", |
| "tube_of_toothpaste_222" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13560, |
| 19686 |
| ], |
| "skill_idxes": [ |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23 |
| ] |
| } |
| ] |
| } |
